CN104199468A - Three-dimensional composite motion platform - Google Patents
Three-dimensional composite motion platform Download PDFInfo
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- CN104199468A CN104199468A CN201410338453.5A CN201410338453A CN104199468A CN 104199468 A CN104199468 A CN 104199468A CN 201410338453 A CN201410338453 A CN 201410338453A CN 104199468 A CN104199468 A CN 104199468A
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- dimensional composite
- composite motion
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Abstract
The invention relates to the technical field of designs for high-accuracy multi-degree-of-freedom motion platforms, in particular to a three-dimensional composite motion platform. The invention provides a three-dimensional composite motion platform, wherein platform panels movably hinged at the top ends of the output shafts of linear motors are pushed by controlling the accurate motions of the three linear motors arranged on a bottom plate, and then accurate control is realized on the multi-dimensional motions of the platform panels. The three-dimensional composite motion platform provided by the invention avoids the series-type structural mode needed for realizing the multi-dimensional motions of the platform panels in a technical level; the needed structure is simpler compared with parallel-type multi-dimensional motion platforms on the premise of achieving the same technical effect, thus reducing production and machining costs and technical difficulty during production and assembly, and achieving higher operability and realizability.
Description
Technical field
The present invention relates to high-accuracy multiple-degree-of-freedom motion platform design field, be specifically related to a kind of three-dimensional composite motion platform.
Background technology
Conventionally there is two kinds of forms, i.e. tandem and parallel in the multivariant realization of the Multi-dimension Motion Platform of the prior art.Shown in Fig. 1, tandem the Multi-dimension Motion Platform of the prior art, the motion of every axle is all to be completed by independent motion platform, realizes multiaxial motion by the mode being superimposed.Its position, fine motion angle table apparatus adopts the angle displacement of arc-shaped guide rail winding machine platform, and when multidimensional is combined, rotation center does not overlap, and easily produces error.The center of two arc-shaped guide rails, be easy to because assembling precision and center does not overlap.Realize the tandem the Multi-dimension Motion Platform of multiaxial motion by the mode of stack in the time of assembling, the registration of rotation center is subject to the constraint of assembly precision, if exist rigging error can orthogonality between axle and axle be produced and be had a strong impact on, cause rotation center not overlap, and then affect the positioning precision of platform.Shown in Fig. 2, parallel the Multi-dimension Motion Platform of the prior art, although have advantages of that kinematic accuracy is high and volume is little, decoupling zero is very complicated, controls difficulty large, and manufacture difficulty is large, and assembly precision requires high especially, and cost of manufacture is high.
Summary of the invention
(1) technical matters that will solve
The invention provides a kind of three-dimensional composite motion platform, avoided the required in-line frame mode of multi-dimensional movement of implementation platform panel from technological layer; Under the prerequisite that reaches identical technique effect, to compare parallel the Multi-dimension Motion Platform more simple for required structure, reduced the technical difficulty when making processing cost and making assembling.The accurate motion that the present invention is arranged in three linear electric motors on base plate by control promotes to be movably hinged the platform panel in linear electric motors output shaft top, and then the multi-dimensional movement of platform panel is realized accurately and being controlled.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of three-dimensional composite motion platform, comprise platform panel, linear electric motors, No. two linear electric motors, No. three linear electric motors, linear electric motors distance caging device, spherical linkage, platform base, control power interface, linear electric motors power lead, control bus, power bus, control driver and power supplys, it is characterized in that, described linear electric motors, No. two linear electric motors are connected with described control power interface by linear electric motors power lead with No. three linear electric motors; Described control power interface is connected with described control driver by described control bus; Described control driver is connected with described power supply by described power bus; On described linear electric motors, No. two linear electric motors and No. three linear electric motors, be provided with the described linear electric motors distance caging device for limiting the highest and minimum stroke; Described linear electric motors, No. two linear electric motors and No. three linear electric motors are anchored on described platform base by fastener; Described linear electric motors, No. two linear electric motors with No. three linear electric motors output shafts to vertical with described platform base; The top of the output terminal of described linear electric motors, No. two linear electric motors and No. three linear electric motors is fastenedly connected with one end of spherical linkage respectively; The other end of described spherical linkage is fastened on described platform panel lower surface; The line that described spherical linkage is fastened on the center of the position of described platform panel lower surface is isosceles right triangle or equilateral triangle; Symmetric figure centered by described platform panel;
When described spherical linkage be fastened on described platform panel lower surface position in the line that is formed centrally while being isosceles right triangle, the hypotenuse mid point of described isosceles right triangle overlaps with the symcenter of described platform panel;
When described spherical linkage be fastened on described platform panel lower surface position in the line that is formed centrally while being equilateral triangle, the center of described equilateral triangle overlaps with the symcenter of described platform panel.
Preferably, described three-dimensional composite motion platform also comprises ring flange; The mode that is fastenedly connected of described spherical linkage and described platform panel is being fastenedly connected of being undertaken by described ring flange; The position of the fastening described ring flange of described platform panel is provided with deep gouge.
Preferably, described platform base 8 is provided with linear electric motors deep gouge; Described linear electric motors 2, No. two linear electric motors 3 and No. three linear electric motors 4 are fastened on the linear electric motors deep gouge of described platform base 8 by fastener.
Preferably, described linear electric motors distance caging device is Hall switch, mechanical type trigger switch or photoelectric sensor stop means.
Preferably, when described linear electric motors distance caging device is photoelectric sensor stop means, the structure of described linear electric motors distance caging device comprises: cushion cap, positive stop, photoelectric sensor and signal control line; Described cushion cap bottom is fastened on described platform base, and the other end of described cushion cap and described photoelectric sensor are fastenedly connected; Described positive stop one end is anchored on the output shaft end of linear electric motors, suitable for triggering the profile of the other end and the opening of described photoelectric sensor induction zone of described positive stop of described photoelectric sensor; Described photoelectric sensor is connected with described control power interface by signal control line.
Preferably, described three-dimensional composite motion platform also comprises dustproof side plate; Described dustproof side plate is fastened on described platform base by fastener.
Preferably, described spherical linkage and described ring flange are integral type structure.
Preferably, described linear electric motors, No. two linear electric motors and No. three linear electric motors are voice coil motor or step-by-step linear electric motor.
(3) beneficial effect
The three-dimensional composite motion platform of one provided by the invention, the accurate motion that is arranged in three linear electric motors on base plate by control promotes to be movably hinged the platform panel in linear electric motors output shaft top, and then the multi-dimensional movement of platform panel is realized accurately and being controlled, avoided the required in-line frame mode of multi-dimensional movement of implementation platform panel from technological layer.
It is more simple that the present invention's required structure under the prerequisite that reaches identical technique effect is compared parallel the Multi-dimension Motion Platform, reduced the technical difficulty when making processing cost and making assembling, possesses higher operability and realizability.
The advantages such as a kind of three-dimensional composite motion platform of the present invention adopts brand-new structural design, has: precision is high, simple in structure, controls easily, with low cost.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is tandem the Multi-dimension Motion Platform structural representation of the prior art;
Fig. 2 is parallel the Multi-dimension Motion Platform structural representation of the prior art;
Fig. 3 is the not platform structure schematic diagram with control driver containing power supply of an embodiment of a kind of three-dimensional composite motion platform according to the present invention;
Fig. 4 is the not platform structure cut-open view with control driver containing power supply of an embodiment of a kind of three-dimensional composite motion platform according to the present invention;
Fig. 5 is the platform and integrally structural representation of an embodiment of a kind of three-dimensional composite motion platform according to the present invention;
Fig. 6 is platform base vertical view and the front view of an embodiment of a kind of three-dimensional composite motion platform according to the present invention;
Fig. 7 is platform panel upward view and the front view of an embodiment of a kind of three-dimensional composite motion platform according to the present invention;
Fig. 8 is the flange of an embodiment of a kind of three-dimensional composite motion platform according to the present invention and front view and the left view of spherical linkage integral structure.
Embodiment
Below in conjunction with Figure of description and embodiment, the specific embodiment of the present invention is described in further detail.Following examples are only for the present invention is described, but can not be used for limiting the scope of the invention.
Shown in Fig. 3～5, the invention provides a kind of three-dimensional composite motion platform, comprise platform panel 1, voice coil motor 2, No. two voice coil motors 3, No. three voice coil motors 4, linear electric motors distance caging device 5, spherical linkage 6, ring flange 7, platform bases 8, control power interface 13, linear electric motors power lead 14, control bus 15, power bus 16, control driver 17 and power supply 18, a described voice coil motor 2, No. two voice coil motors 3 are connected with described control power interface 13 by voice coil motor power lead 14 with No. three voice coil motors 4; Described control power interface 13 is connected with described control driver 17 by described control bus 15; Described control driver 17 is connected with described power supply 18 by described power bus 16; On a described voice coil motor 2, No. two voice coil motors 3 and No. three voice coil motors 4, be provided with the described voice coil motor distance caging device 5 for limiting the highest and minimum stroke; Described platform base 8 is provided with three voice coil motor deep gouges; Detail as shown in Figure 4; The centre of form line of described three voice coil motor deep gouges is isosceles right triangle; Described platform base 8 is provided with voice coil motor deep gouge; A described voice coil motor 2, No. two voice coil motors 3 and No. three voice coil motors 4 are fastened on by fastener on the voice coil motor deep gouge of described platform base 8; A described voice coil motor 2, No. two voice coil motors 3 and No. three voice coil motors 4 are provided with linear electric motors distance caging device 5; A described voice coil motor 2, No. two voice coil motors 3 with No. three voice coil motor 4 output shafts to vertical with described platform base 8; The top of the output terminal of a described voice coil motor 2, No. two voice coil motors 3 and No. three voice coil motors 4 is all fastenedly connected with described spherical linkage 6; The other end of described spherical linkage 6 is provided with described ring flange; Described platform panel 1 be provided with three with the suitable deep gouge of described ring flange; Described platform panel 1 is square; The structure of described platform panel 1 as shown in Figure 7.
Described platform panel 1 be provided with three with the suitable deep gouge of described ring flange, the line of the described deep gouge centre of form is also isosceles right triangle, and meets the right-angle side mid point that is formed at the isosceles right triangle on described platform panel 1 by the line of the deep gouge centre of form and overlap with the symcenter of described platform panel 1; When described spherical linkage 6 be fastened on described platform panel 1 lower surface position in the line that is formed centrally while being equilateral triangle, the center of described equilateral triangle overlaps with the symcenter of described platform panel 1, and the figure of the centre of form line of corresponding described three voice coil motor deep gouges also changes equilateral triangle into;
Described ring flange is positioned at deep gouge corresponding and that described ring flange is suitable, is fastenedly connected by fastener and described platform panel 1.
Described linear electric motors distance caging device 5 is photoelectric sensor stop means.The structure of described linear electric motors distance caging device 5 comprises: cushion cap 9, positive stop 10 and photoelectric sensor 11; Described cushion cap bottom is fastened on described platform base 8, and the other end of described cushion cap and described photoelectric sensor are fastenedly connected; Described positive stop one end is anchored on the output shaft end of linear electric motors, suitable for triggering the profile of the other end and the opening of described photoelectric sensor induction zone of described positive stop of described photoelectric sensor.
Described three-dimensional composite motion platform also comprises dustproof side plate 12; Described dustproof side plate 12 is fastened on described platform base 8 by fastener.
The integral structure figure of described spherical linkage 6 and described ring flange as shown in Figure 8.
Above embodiment is only for the present invention is described, but not limitation of the present invention.Although the present invention is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, technical scheme of the present invention is carried out to various combinations, revises or is equal to replacement, do not depart from the spirit and scope of technical solution of the present invention, all should be encompassed in the middle of claim scope of the present invention.
Claims (9)
1. a three-dimensional composite motion platform, comprise platform panel (1), linear electric motors (2), No. two linear electric motors (3), No. three linear electric motors (4), linear electric motors distance caging device (5), spherical linkage (6), platform base (8), control power interface (13), linear electric motors power lead (14), control bus (15), power bus (16), control driver (17) and power supply (18), it is characterized in that, described linear electric motors (2), No. two linear electric motors (3) are connected with described control power interface (13) by linear electric motors power lead (14) with No. three linear electric motors (4), described control power interface (13) is connected with described control driver (17) by described control bus (15), described control driver (17) is connected with described power supply (18) by described power bus (16), on described linear electric motors (2), No. two linear electric motors (3) and No. three linear electric motors (4), be provided with the described linear electric motors distance caging device (5) for limiting the highest and minimum stroke, described linear electric motors (2), No. two linear electric motors (3) and No. three linear electric motors (4) are anchored on described platform base (8) by fastener, described linear electric motors (2), No. two linear electric motors (3) and No. three linear electric motors (4) output shaft are to vertical with described platform base (8), the top of the output terminal of described linear electric motors (2), No. two linear electric motors (3) and No. three linear electric motors (4) is fastenedly connected with one end of spherical linkage (6) respectively, the other end of described spherical linkage (6) is fastened on described platform panel (1) lower surface, the line that described spherical linkage (6) is fastened on the center of the position of described platform panel (1) lower surface is isosceles right triangle or equilateral triangle, symmetric figure centered by described platform panel (1),
When described spherical linkage (6) be fastened on described platform panel (1) lower surface position in the line that is formed centrally while being isosceles right triangle, the hypotenuse mid point of described isosceles right triangle overlaps with the symcenter of described platform panel (1);
When described spherical linkage (6) be fastened on described platform panel (1) lower surface position in the line that is formed centrally while being equilateral triangle, the center of described equilateral triangle overlaps with the symcenter of described platform panel (1).
2. the three-dimensional composite motion platform of one according to claim 1, is characterized in that, described three-dimensional composite motion platform also comprises ring flange (7); Described spherical linkage (6) is being fastenedly connected of being undertaken by described ring flange (7) with the mode that is fastenedly connected of described platform panel (1); The position of the fastening described ring flange of described platform panel (1) (7) is provided with deep gouge.
3. the three-dimensional composite motion platform of one according to claim 2, is characterized in that, described platform base (8) is provided with linear electric motors deep gouge; Described linear electric motors (2), No. two linear electric motors (3) and No. three linear electric motors (4) are fastened on the linear electric motors deep gouge of described platform base (8) by fastener.
4. the three-dimensional composite motion platform of one according to claim 3, is characterized in that, described linear electric motors distance caging device (5) is Hall switch, mechanical type trigger switch or photoelectric sensor stop means.
5. the three-dimensional composite motion platform of one according to claim 4, it is characterized in that, when described linear electric motors distance caging device (5) is photoelectric sensor stop means, the structure of described linear electric motors distance caging device (5) comprising: cushion cap (9), positive stop (10), photoelectric sensor (11) and signal control line (19); It is upper that described cushion cap bottom is fastened on described platform base (8), and the other end of described cushion cap and described photoelectric sensor are fastenedly connected; Described positive stop one end is anchored on the output shaft end of linear electric motors; The profile of the other end and the opening of described photoelectric sensor induction zone that are used for the described positive stop that triggers described photoelectric sensor are suitable; Described photoelectric sensor (11) is connected with described control power interface (13) by signal control line (19).
6. the three-dimensional composite motion platform of one according to claim 5, is characterized in that, described three-dimensional composite motion platform also comprises dustproof side plate (12); Described dustproof side plate (12) is fastened on described platform base (8) by fastener.
7. according to the three-dimensional composite motion platform of the one described in claim 2～6 any one, it is characterized in that, described spherical linkage (6) and described ring flange (7) are integral type structure.
8. according to the three-dimensional composite motion platform of the one described in claim 1～6 any one, it is characterized in that, described linear electric motors (2), No. two linear electric motors (3) and No. three linear electric motors (4) are voice coil motor or step-by-step linear electric motor.
9. the three-dimensional composite motion platform of one according to claim 7, is characterized in that, described linear electric motors (2), No. two linear electric motors (3) and No. three linear electric motors (4) are voice coil motor or step-by-step linear electric motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410338453.5A CN104199468B (en) | 2014-07-16 | 2014-07-16 | Three-dimensional composite motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410338453.5A CN104199468B (en) | 2014-07-16 | 2014-07-16 | Three-dimensional composite motion platform |
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| Publication Number | Publication Date |
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| CN104199468A true CN104199468A (en) | 2014-12-10 |
| CN104199468B CN104199468B (en) | 2017-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410338453.5A Expired - Fee Related CN104199468B (en) | 2014-07-16 | 2014-07-16 | Three-dimensional composite motion platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106774447A (en) * | 2016-12-14 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Achievable rotation based on support load-bearing and the motion platform for freely waving |
| CN111558920A (en) * | 2020-06-12 | 2020-08-21 | 江苏铁锚玻璃股份有限公司 | Multidimensional movement platform applied to optical detection of transparent piece and detection device |
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Patent Citations (5)
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| CN1962209A (en) * | 2006-12-08 | 2007-05-16 | 哈尔滨工业大学 | Three-branch chain six-freedom degree parallel flexible hinge micromotion mechanism |
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Non-Patent Citations (1)
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| 曾广玺 等: "基于uC/OS-Ⅱ的三维运动平台设计", 《计算技术与自动化》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774447A (en) * | 2016-12-14 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Achievable rotation based on support load-bearing and the motion platform for freely waving |
| CN106774447B (en) * | 2016-12-14 | 2019-09-03 | 西安可视可觉网络科技有限公司 | Achievable rotation based on bracket load-bearing and the motion platform freely waved |
| CN111558920A (en) * | 2020-06-12 | 2020-08-21 | 江苏铁锚玻璃股份有限公司 | Multidimensional movement platform applied to optical detection of transparent piece and detection device |
| CN111558920B (en) * | 2020-06-12 | 2024-05-28 | 江苏铁锚玻璃股份有限公司 | Multidimensional motion platform and detection device applied to optical detection of transparent piece |
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| CN104199468B (en) | 2017-02-08 |
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